<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1registration_1_1_correspondence_estimation_base.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1registration_1_1_correspondence_estimation_base-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
</div><!--header-->
<div class="contents">

<p>Abstract <b><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html" title="Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...">CorrespondenceEstimationBase</a></b> class. All correspondence estimation methods should inherit from this.  
 <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="correspondence__estimation_8h_source.html">correspondence_estimation.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1registration_1_1_correspondence_estimation_base.png" usemap="#pcl::registration::CorrespondenceEstimationBase_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
  <map id="pcl::registration::CorrespondenceEstimationBase_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" name="pcl::registration::CorrespondenceEstimationBase_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map">
<area href="classpcl_1_1_p_c_l_base.html" alt="pcl::PCLBase&lt; PointSource &gt;" shape="rect" coords="0,0,495,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:abc26658ace3b34d14e808599b6b6ad17"><td class="memItemLeft" align="right" valign="top"><a id="abc26658ace3b34d14e808599b6b6ad17"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:abc26658ace3b34d14e808599b6b6ad17"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac08e02da4643d7120c8e382b6baf7799"><td class="memItemLeft" align="right" valign="top"><a id="ac08e02da4643d7120c8e382b6baf7799"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:ac08e02da4643d7120c8e382b6baf7799"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a43ef5e39ae51e4d65677575c66e15a7f"><td class="memItemLeft" align="right" valign="top"><a id="a43ef5e39ae51e4d65677575c66e15a7f"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
<tr class="separator:a43ef5e39ae51e4d65677575c66e15a7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af57574187cba57fdf480cb51e7a97cf2"><td class="memItemLeft" align="right" valign="top"><a id="af57574187cba57fdf480cb51e7a97cf2"></a>
typedef KdTree::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
<tr class="separator:af57574187cba57fdf480cb51e7a97cf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a6a7af63f47bc195b0028e11bda4b98"><td class="memItemLeft" align="right" valign="top"><a id="a8a6a7af63f47bc195b0028e11bda4b98"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreeReciprocal</b></td></tr>
<tr class="separator:a8a6a7af63f47bc195b0028e11bda4b98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1d23dfb1e222c7a7bce2358ab7357db"><td class="memItemLeft" align="right" valign="top"><a id="af1d23dfb1e222c7a7bce2358ab7357db"></a>
typedef KdTree::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreeReciprocalPtr</b></td></tr>
<tr class="separator:af1d23dfb1e222c7a7bce2358ab7357db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee35a52b4a4893fb841293814a227673"><td class="memItemLeft" align="right" valign="top"><a id="aee35a52b4a4893fb841293814a227673"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSource</b></td></tr>
<tr class="separator:aee35a52b4a4893fb841293814a227673"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4effa970b306701c52d6797e574ecd21"><td class="memItemLeft" align="right" valign="top"><a id="a4effa970b306701c52d6797e574ecd21"></a>
typedef PointCloudSource::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourcePtr</b></td></tr>
<tr class="separator:a4effa970b306701c52d6797e574ecd21"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0918d5b78e72ecf10dd5151547dbea7e"><td class="memItemLeft" align="right" valign="top"><a id="a0918d5b78e72ecf10dd5151547dbea7e"></a>
typedef PointCloudSource::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourceConstPtr</b></td></tr>
<tr class="separator:a0918d5b78e72ecf10dd5151547dbea7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71e44d7dfe22e45214b9fad6e7a2d438"><td class="memItemLeft" align="right" valign="top"><a id="a71e44d7dfe22e45214b9fad6e7a2d438"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTarget</b></td></tr>
<tr class="separator:a71e44d7dfe22e45214b9fad6e7a2d438"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae496eb0b1a9ac7eb0844fdf45b60f729"><td class="memItemLeft" align="right" valign="top"><a id="ae496eb0b1a9ac7eb0844fdf45b60f729"></a>
typedef PointCloudTarget::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTargetPtr</b></td></tr>
<tr class="separator:ae496eb0b1a9ac7eb0844fdf45b60f729"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6de153ae1cca2452342fceb204118d49"><td class="memItemLeft" align="right" valign="top"><a id="a6de153ae1cca2452342fceb204118d49"></a>
typedef PointCloudTarget::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTargetConstPtr</b></td></tr>
<tr class="separator:a6de153ae1cca2452342fceb204118d49"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6c14122c36e11642c21b71197ef56ba"><td class="memItemLeft" align="right" valign="top"><a id="ae6c14122c36e11642c21b71197ef56ba"></a>
typedef KdTree::PointRepresentationConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointRepresentationConstPtr</b></td></tr>
<tr class="separator:ae6c14122c36e11642c21b71197ef56ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointSource &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
<tr class="separator:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
<tr class="separator:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a44d06d7569b9d4e0115e741ce495b622"><td class="memItemLeft" align="right" valign="top"><a id="a44d06d7569b9d4e0115e741ce495b622"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a44d06d7569b9d4e0115e741ce495b622">CorrespondenceEstimationBase</a> ()</td></tr>
<tr class="memdesc:a44d06d7569b9d4e0115e741ce495b622"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a44d06d7569b9d4e0115e741ce495b622"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16a1c24a3cf934cfb23920c425a6ff88"><td class="memItemLeft" align="right" valign="top"><a id="a16a1c24a3cf934cfb23920c425a6ff88"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a16a1c24a3cf934cfb23920c425a6ff88">~CorrespondenceEstimationBase</a> ()</td></tr>
<tr class="memdesc:a16a1c24a3cf934cfb23920c425a6ff88"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a16a1c24a3cf934cfb23920c425a6ff88"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b6f6dcae4eeee851931cb37c98b64d7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a5b6f6dcae4eeee851931cb37c98b64d7">setInputCloud</a> (const PointCloudSourceConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a5b6f6dcae4eeee851931cb37c98b64d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a5b6f6dcae4eeee851931cb37c98b64d7">更多...</a><br /></td></tr>
<tr class="separator:a5b6f6dcae4eeee851931cb37c98b64d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11120b8b747b53613e8bc2276e7cdcb3"><td class="memItemLeft" align="right" valign="top"><a id="a11120b8b747b53613e8bc2276e7cdcb3"></a>
PointCloudSourceConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a11120b8b747b53613e8bc2276e7cdcb3">getInputCloud</a> ()</td></tr>
<tr class="memdesc:a11120b8b747b53613e8bc2276e7cdcb3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:a11120b8b747b53613e8bc2276e7cdcb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa67db523c5d262b6ca1782847e27c563"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa67db523c5d262b6ca1782847e27c563">setInputSource</a> (const PointCloudSourceConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:aa67db523c5d262b6ca1782847e27c563"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa67db523c5d262b6ca1782847e27c563">更多...</a><br /></td></tr>
<tr class="separator:aa67db523c5d262b6ca1782847e27c563"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acbc245bbab3b1fb9c80f736e8134cd4a"><td class="memItemLeft" align="right" valign="top"><a id="acbc245bbab3b1fb9c80f736e8134cd4a"></a>
PointCloudSourceConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#acbc245bbab3b1fb9c80f736e8134cd4a">getInputSource</a> ()</td></tr>
<tr class="memdesc:acbc245bbab3b1fb9c80f736e8134cd4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:acbc245bbab3b1fb9c80f736e8134cd4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb8906b3ab5948cc3b58bf7b22218eea"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#abb8906b3ab5948cc3b58bf7b22218eea">setInputTarget</a> (const PointCloudTargetConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:abb8906b3ab5948cc3b58bf7b22218eea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to)  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#abb8906b3ab5948cc3b58bf7b22218eea">更多...</a><br /></td></tr>
<tr class="separator:abb8906b3ab5948cc3b58bf7b22218eea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a26f808434799242e8711a7c9355f3060"><td class="memItemLeft" align="right" valign="top"><a id="a26f808434799242e8711a7c9355f3060"></a>
PointCloudTargetConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a26f808434799242e8711a7c9355f3060">getInputTarget</a> ()</td></tr>
<tr class="memdesc:a26f808434799242e8711a7c9355f3060"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:a26f808434799242e8711a7c9355f3060"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab336d93e5d4482360fc928b23ddda973"><td class="memItemLeft" align="right" valign="top"><a id="ab336d93e5d4482360fc928b23ddda973"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ab336d93e5d4482360fc928b23ddda973">requiresSourceNormals</a> () const</td></tr>
<tr class="memdesc:ab336d93e5d4482360fc928b23ddda973"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source normals <br /></td></tr>
<tr class="separator:ab336d93e5d4482360fc928b23ddda973"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f66245661e52e7d4506efd054cedd4b"><td class="memItemLeft" align="right" valign="top"><a id="a5f66245661e52e7d4506efd054cedd4b"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a5f66245661e52e7d4506efd054cedd4b">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a5f66245661e52e7d4506efd054cedd4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the source normals <br /></td></tr>
<tr class="separator:a5f66245661e52e7d4506efd054cedd4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aad23d9593864dde9da9fb52055c78604"><td class="memItemLeft" align="right" valign="top"><a id="aad23d9593864dde9da9fb52055c78604"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aad23d9593864dde9da9fb52055c78604">requiresTargetNormals</a> () const</td></tr>
<tr class="memdesc:aad23d9593864dde9da9fb52055c78604"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires target normals <br /></td></tr>
<tr class="separator:aad23d9593864dde9da9fb52055c78604"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad189ec0c3db30c64ce24d3a8ca64527d"><td class="memItemLeft" align="right" valign="top"><a id="ad189ec0c3db30c64ce24d3a8ca64527d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad189ec0c3db30c64ce24d3a8ca64527d">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:ad189ec0c3db30c64ce24d3a8ca64527d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the target normals <br /></td></tr>
<tr class="separator:ad189ec0c3db30c64ce24d3a8ca64527d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2caef76d13492efb77731d318a251db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac2caef76d13492efb77731d318a251db">setIndicesSource</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ac2caef76d13492efb77731d318a251db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represent the input source point cloud.  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac2caef76d13492efb77731d318a251db">更多...</a><br /></td></tr>
<tr class="separator:ac2caef76d13492efb77731d318a251db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1cfa7439f71c3afe482dec5cd431b62"><td class="memItemLeft" align="right" valign="top"><a id="aa1cfa7439f71c3afe482dec5cd431b62"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa1cfa7439f71c3afe482dec5cd431b62">getIndicesSource</a> ()</td></tr>
<tr class="memdesc:aa1cfa7439f71c3afe482dec5cd431b62"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used for the source dataset. <br /></td></tr>
<tr class="separator:aa1cfa7439f71c3afe482dec5cd431b62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addc63787ae74feaa7445442c9b108d95"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#addc63787ae74feaa7445442c9b108d95">setIndicesTarget</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:addc63787ae74feaa7445442c9b108d95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represent the input target point cloud.  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#addc63787ae74feaa7445442c9b108d95">更多...</a><br /></td></tr>
<tr class="separator:addc63787ae74feaa7445442c9b108d95"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42e70967a7cb4f95e7d46d2d32ad0f30"><td class="memItemLeft" align="right" valign="top"><a id="a42e70967a7cb4f95e7d46d2d32ad0f30"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a42e70967a7cb4f95e7d46d2d32ad0f30">getIndicesTarget</a> ()</td></tr>
<tr class="memdesc:a42e70967a7cb4f95e7d46d2d32ad0f30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used for the target dataset. <br /></td></tr>
<tr class="separator:a42e70967a7cb4f95e7d46d2d32ad0f30"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53aebf3a2649c712fcd1a0a0768ed51a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a53aebf3a2649c712fcd1a0a0768ed51a">setSearchMethodTarget</a> (const KdTreePtr &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:a53aebf3a2649c712fcd1a0a0768ed51a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the target cloud.  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a53aebf3a2649c712fcd1a0a0768ed51a">更多...</a><br /></td></tr>
<tr class="separator:a53aebf3a2649c712fcd1a0a0768ed51a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdb07975992d25faa783ecacd0adb71b"><td class="memItemLeft" align="right" valign="top"><a id="afdb07975992d25faa783ecacd0adb71b"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#afdb07975992d25faa783ecacd0adb71b">getSearchMethodTarget</a> () const</td></tr>
<tr class="memdesc:afdb07975992d25faa783ecacd0adb71b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used to find correspondences in the target cloud. <br /></td></tr>
<tr class="separator:afdb07975992d25faa783ecacd0adb71b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a260ce83db343ffc513c779e87e18bb8a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a260ce83db343ffc513c779e87e18bb8a">setSearchMethodSource</a> (const KdTreeReciprocalPtr &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:a260ce83db343ffc513c779e87e18bb8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding).  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a260ce83db343ffc513c779e87e18bb8a">更多...</a><br /></td></tr>
<tr class="separator:a260ce83db343ffc513c779e87e18bb8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a890dbded17485123c0fa202aeeea01d5"><td class="memItemLeft" align="right" valign="top"><a id="a890dbded17485123c0fa202aeeea01d5"></a>
KdTreeReciprocalPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a890dbded17485123c0fa202aeeea01d5">getSearchMethodSource</a> () const</td></tr>
<tr class="memdesc:a890dbded17485123c0fa202aeeea01d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used to find correspondences in the source cloud. <br /></td></tr>
<tr class="separator:a890dbded17485123c0fa202aeeea01d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6545c8946e044093ef2e5373d347e27"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad6545c8946e044093ef2e5373d347e27">determineCorrespondences</a> (pcl::Correspondences &amp;correspondences, double max_distance=std::numeric_limits&lt; double &gt;::max())=0</td></tr>
<tr class="memdesc:ad6545c8946e044093ef2e5373d347e27"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the correspondences between input and target cloud.  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad6545c8946e044093ef2e5373d347e27">更多...</a><br /></td></tr>
<tr class="separator:ad6545c8946e044093ef2e5373d347e27"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c21cd891d7df337648dc05d71008be2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a3c21cd891d7df337648dc05d71008be2">determineReciprocalCorrespondences</a> (pcl::Correspondences &amp;correspondences, double max_distance=std::numeric_limits&lt; double &gt;::max())=0</td></tr>
<tr class="memdesc:a3c21cd891d7df337648dc05d71008be2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the reciprocal correspondences between input and target cloud. A correspondence is considered reciprocal if both Src_i has Tgt_i as a correspondence, and Tgt_i has Src_i as one.  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a3c21cd891d7df337648dc05d71008be2">更多...</a><br /></td></tr>
<tr class="separator:a3c21cd891d7df337648dc05d71008be2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45f38520f0b144dc85423f1395f043ab"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a45f38520f0b144dc85423f1395f043ab">setPointRepresentation</a> (const PointRepresentationConstPtr &amp;point_representation)</td></tr>
<tr class="memdesc:a45f38520f0b144dc85423f1395f043ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a boost shared pointer to the <a class="el" href="classpcl_1_1_point_representation.html" title="PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...">PointRepresentation</a> to be used when searching for nearest neighbors.  <a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a45f38520f0b144dc85423f1395f043ab">更多...</a><br /></td></tr>
<tr class="separator:a45f38520f0b144dc85423f1395f043ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87c1611422fd942c5118313acdc697f5"><td class="memItemLeft" align="right" valign="top"><a id="a87c1611422fd942c5118313acdc697f5"></a>
virtual boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a87c1611422fd942c5118313acdc697f5">clone</a> () const =0</td></tr>
<tr class="memdesc:a87c1611422fd942c5118313acdc697f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clone and cast to <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html" title="Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...">CorrespondenceEstimationBase</a> <br /></td></tr>
<tr class="separator:a87c1611422fd942c5118313acdc697f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointSource &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
<tr class="separator:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
<tr class="separator:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointSource &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a4563c3bc0cb5d0270457d09ee9bdd03d"><td class="memItemLeft" align="right" valign="top"><a id="a4563c3bc0cb5d0270457d09ee9bdd03d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4563c3bc0cb5d0270457d09ee9bdd03d">getClassName</a> () const</td></tr>
<tr class="memdesc:a4563c3bc0cb5d0270457d09ee9bdd03d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract class get name method. <br /></td></tr>
<tr class="separator:a4563c3bc0cb5d0270457d09ee9bdd03d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38466f5d8f817f1fc9e62dfffff572c7"><td class="memItemLeft" align="right" valign="top"><a id="a38466f5d8f817f1fc9e62dfffff572c7"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a38466f5d8f817f1fc9e62dfffff572c7">initCompute</a> ()</td></tr>
<tr class="memdesc:a38466f5d8f817f1fc9e62dfffff572c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal computation initalization. <br /></td></tr>
<tr class="separator:a38466f5d8f817f1fc9e62dfffff572c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad7afb551d656990f5caf03ba2fc5f6c0"><td class="memItemLeft" align="right" valign="top"><a id="ad7afb551d656990f5caf03ba2fc5f6c0"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad7afb551d656990f5caf03ba2fc5f6c0">initComputeReciprocal</a> ()</td></tr>
<tr class="memdesc:ad7afb551d656990f5caf03ba2fc5f6c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal computation initalization for reciprocal correspondences. <br /></td></tr>
<tr class="separator:ad7afb551d656990f5caf03ba2fc5f6c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointSource &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:abafd815fa41e4762057c1351fa58c552"><td class="memItemLeft" align="right" valign="top"><a id="abafd815fa41e4762057c1351fa58c552"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#abafd815fa41e4762057c1351fa58c552">corr_name_</a></td></tr>
<tr class="memdesc:abafd815fa41e4762057c1351fa58c552"><td class="mdescLeft">&#160;</td><td class="mdescRight">The correspondence estimation method name. <br /></td></tr>
<tr class="separator:abafd815fa41e4762057c1351fa58c552"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac43aa82c5e2d08b017639cc483d88ea2"><td class="memItemLeft" align="right" valign="top"><a id="ac43aa82c5e2d08b017639cc483d88ea2"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac43aa82c5e2d08b017639cc483d88ea2">tree_</a></td></tr>
<tr class="memdesc:ac43aa82c5e2d08b017639cc483d88ea2"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object used for the target dataset. <br /></td></tr>
<tr class="separator:ac43aa82c5e2d08b017639cc483d88ea2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad15e1f9630bc3bb5e5c412dc8e9183ff"><td class="memItemLeft" align="right" valign="top"><a id="ad15e1f9630bc3bb5e5c412dc8e9183ff"></a>
KdTreeReciprocalPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad15e1f9630bc3bb5e5c412dc8e9183ff">tree_reciprocal_</a></td></tr>
<tr class="memdesc:ad15e1f9630bc3bb5e5c412dc8e9183ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object used for the source dataset. <br /></td></tr>
<tr class="separator:ad15e1f9630bc3bb5e5c412dc8e9183ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a269bd2ef4d241dc4dafebe6919e5650e"><td class="memItemLeft" align="right" valign="top"><a id="a269bd2ef4d241dc4dafebe6919e5650e"></a>
PointCloudTargetConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a269bd2ef4d241dc4dafebe6919e5650e">target_</a></td></tr>
<tr class="memdesc:a269bd2ef4d241dc4dafebe6919e5650e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset target. <br /></td></tr>
<tr class="separator:a269bd2ef4d241dc4dafebe6919e5650e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb7ffc631b61dd54251b907d9b59c36b"><td class="memItemLeft" align="right" valign="top"><a id="adb7ffc631b61dd54251b907d9b59c36b"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#adb7ffc631b61dd54251b907d9b59c36b">target_indices_</a></td></tr>
<tr class="memdesc:adb7ffc631b61dd54251b907d9b59c36b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The target point cloud dataset indices. <br /></td></tr>
<tr class="separator:adb7ffc631b61dd54251b907d9b59c36b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1ad8057a457578023584ae099795133"><td class="memItemLeft" align="right" valign="top"><a id="aa1ad8057a457578023584ae099795133"></a>
PointRepresentationConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa1ad8057a457578023584ae099795133">point_representation_</a></td></tr>
<tr class="memdesc:aa1ad8057a457578023584ae099795133"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point representation used (internal). <br /></td></tr>
<tr class="separator:aa1ad8057a457578023584ae099795133"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a106b60be21bde4d7ebaa257494d54481"><td class="memItemLeft" align="right" valign="top"><a id="a106b60be21bde4d7ebaa257494d54481"></a>
PointCloudTargetPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a106b60be21bde4d7ebaa257494d54481">input_transformed_</a></td></tr>
<tr class="memdesc:a106b60be21bde4d7ebaa257494d54481"><td class="mdescLeft">&#160;</td><td class="mdescRight">The transformed input source point cloud dataset. <br /></td></tr>
<tr class="separator:a106b60be21bde4d7ebaa257494d54481"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab05cddc8483c536b981712160ac368ce"><td class="memItemLeft" align="right" valign="top"><a id="ab05cddc8483c536b981712160ac368ce"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ab05cddc8483c536b981712160ac368ce">input_fields_</a></td></tr>
<tr class="memdesc:ab05cddc8483c536b981712160ac368ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">The types of input point fields available. <br /></td></tr>
<tr class="separator:ab05cddc8483c536b981712160ac368ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac14f9ca285539bce5913e4e65cd8303f"><td class="memItemLeft" align="right" valign="top"><a id="ac14f9ca285539bce5913e4e65cd8303f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac14f9ca285539bce5913e4e65cd8303f">target_cloud_updated_</a></td></tr>
<tr class="memdesc:ac14f9ca285539bce5913e4e65cd8303f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. This way, we avoid rebuilding the kd-tree for the target cloud every time the determineCorrespondences () method is called. <br /></td></tr>
<tr class="separator:ac14f9ca285539bce5913e4e65cd8303f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c46a60269323a3bf665aac6397aee69"><td class="memItemLeft" align="right" valign="top"><a id="a4c46a60269323a3bf665aac6397aee69"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4c46a60269323a3bf665aac6397aee69">source_cloud_updated_</a></td></tr>
<tr class="memdesc:a4c46a60269323a3bf665aac6397aee69"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. This way, we avoid rebuilding the reciprocal kd-tree for the source cloud every time the determineCorrespondences () method is called. <br /></td></tr>
<tr class="separator:a4c46a60269323a3bf665aac6397aee69"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afae6e31f695321c118f61c59ea7571e4"><td class="memItemLeft" align="right" valign="top"><a id="afae6e31f695321c118f61c59ea7571e4"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#afae6e31f695321c118f61c59ea7571e4">force_no_recompute_</a></td></tr>
<tr class="memdesc:afae6e31f695321c118f61c59ea7571e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag which, if set, means the tree operating on the target cloud will never be recomputed <br /></td></tr>
<tr class="separator:afae6e31f695321c118f61c59ea7571e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb23b6a9f629bdc605cefeacea94bf14"><td class="memItemLeft" align="right" valign="top"><a id="adb23b6a9f629bdc605cefeacea94bf14"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#adb23b6a9f629bdc605cefeacea94bf14">force_no_recompute_reciprocal_</a></td></tr>
<tr class="memdesc:adb23b6a9f629bdc605cefeacea94bf14"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag which, if set, means the tree operating on the source cloud will never be recomputed <br /></td></tr>
<tr class="separator:adb23b6a9f629bdc605cefeacea94bf14"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointSource &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p>Abstract <b><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html" title="Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...">CorrespondenceEstimationBase</a></b> class. All correspondence estimation methods should inherit from this. </p>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ad6545c8946e044093ef2e5373d347e27"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad6545c8946e044093ef2e5373d347e27">&#9670;&nbsp;</a></span>determineCorrespondences()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::determineCorrespondences </td>
          <td>(</td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_distance</em> = <code>std::numeric_limits&lt;&#160;double&#160;&gt;::max()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Determine the correspondences between input and target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the found correspondences (index of query point, index of target point, distance) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_distance</td><td>maximum allowed distance between correspondences </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a348a50a8b8a0d3c5b14704d283ce068c">pcl::registration::CorrespondenceEstimationNormalShooting&lt; PointSource, PointTarget, NormalT, Scalar &gt;</a>, <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_back_projection.html#ae3558f5a43c65e34c156fbdb504297f2">pcl::registration::CorrespondenceEstimationBackProjection&lt; PointSource, PointTarget, NormalT, Scalar &gt;</a>, <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation.html#aa9821fd95b2f751f8b2019f076fa2b99">pcl::registration::CorrespondenceEstimation&lt; PointSource, PointTarget, Scalar &gt;</a> , 以及 <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a6145ed17b1dadd13c2008b409ad0ce26">pcl::registration::CorrespondenceEstimationOrganizedProjection&lt; PointSource, PointTarget, Scalar &gt;</a> 内被实现.</p>

</div>
</div>
<a id="a3c21cd891d7df337648dc05d71008be2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3c21cd891d7df337648dc05d71008be2">&#9670;&nbsp;</a></span>determineReciprocalCorrespondences()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::determineReciprocalCorrespondences </td>
          <td>(</td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_distance</em> = <code>std::numeric_limits&lt;&#160;double&#160;&gt;::max()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Determine the reciprocal correspondences between input and target cloud. A correspondence is considered reciprocal if both Src_i has Tgt_i as a correspondence, and Tgt_i has Src_i as one. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the found correspondences (index of query and target point, distance) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_distance</td><td>maximum allowed distance between correspondences </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a93c946684ceff4a5686852be95852835">pcl::registration::CorrespondenceEstimationNormalShooting&lt; PointSource, PointTarget, NormalT, Scalar &gt;</a>, <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_back_projection.html#ac93571106a92354458eb99050748cd17">pcl::registration::CorrespondenceEstimationBackProjection&lt; PointSource, PointTarget, NormalT, Scalar &gt;</a>, <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation.html#ac1ad7d803eeb0c1df0f985e487b9a308">pcl::registration::CorrespondenceEstimation&lt; PointSource, PointTarget, Scalar &gt;</a> , 以及 <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ac1efb1a06bd674fea9743d615e8a3419">pcl::registration::CorrespondenceEstimationOrganizedProjection&lt; PointSource, PointTarget, Scalar &gt;</a> 内被实现.</p>

</div>
</div>
<a id="ac2caef76d13492efb77731d318a251db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac2caef76d13492efb77731d318a251db">&#9670;&nbsp;</a></span>setIndicesSource()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setIndicesSource </td>
          <td>(</td>
          <td class="paramtype">const IndicesPtr &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the vector of indices that represent the input source point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a pointer to the vector of indices </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          <a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (indices);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_ab219359de6eb34c9d51e2e976dd1a0d1"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase&lt; PointSource &gt;::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:73</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="addc63787ae74feaa7445442c9b108d95"></a>
<h2 class="memtitle"><span class="permalink"><a href="#addc63787ae74feaa7445442c9b108d95">&#9670;&nbsp;</a></span>setIndicesTarget()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setIndicesTarget </td>
          <td>(</td>
          <td class="paramtype">const IndicesPtr &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the vector of indices that represent the input target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a pointer to the vector of indices </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac14f9ca285539bce5913e4e65cd8303f">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#adb7ffc631b61dd54251b907d9b59c36b">target_indices_</a> = indices;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_ac14f9ca285539bce5913e4e65cd8303f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac14f9ca285539bce5913e4e65cd8303f">pcl::registration::CorrespondenceEstimationBase::target_cloud_updated_</a></div><div class="ttdeci">bool target_cloud_updated_</div><div class="ttdoc">Variable that stores whether we have a new target cloud, meaning we need to pre-process it again....</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:341</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_adb7ffc631b61dd54251b907d9b59c36b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#adb7ffc631b61dd54251b907d9b59c36b">pcl::registration::CorrespondenceEstimationBase::target_indices_</a></div><div class="ttdeci">IndicesPtr target_indices_</div><div class="ttdoc">The target point cloud dataset indices.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:315</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a5b6f6dcae4eeee851931cb37c98b64d7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5b6f6dcae4eeee851931cb37c98b64d7">&#9670;&nbsp;</a></span>setInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudSourceConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud source </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase&lt; PointSource &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa67db523c5d262b6ca1782847e27c563">setInputSource</a> (cloud); </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_aa67db523c5d262b6ca1782847e27c563"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa67db523c5d262b6ca1782847e27c563">pcl::registration::CorrespondenceEstimationBase::setInputSource</a></div><div class="ttdeci">void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:131</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aa67db523c5d262b6ca1782847e27c563"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa67db523c5d262b6ca1782847e27c563">&#9670;&nbsp;</a></span>setInputSource()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setInputSource </td>
          <td>(</td>
          <td class="paramtype">const PointCloudSourceConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud source </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4c46a60269323a3bf665aac6397aee69">source_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">PCLBase&lt;PointSource&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (*cloud, <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ab05cddc8483c536b981712160ac368ce">input_fields_</a>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_a4c46a60269323a3bf665aac6397aee69"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4c46a60269323a3bf665aac6397aee69">pcl::registration::CorrespondenceEstimationBase::source_cloud_updated_</a></div><div class="ttdeci">bool source_cloud_updated_</div><div class="ttdoc">Variable that stores whether we have a new source cloud, meaning we need to pre-process it again....</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:345</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_ab05cddc8483c536b981712160ac368ce"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ab05cddc8483c536b981712160ac368ce">pcl::registration::CorrespondenceEstimationBase::input_fields_</a></div><div class="ttdeci">std::vector&lt; pcl::PCLPointField &gt; input_fields_</div><div class="ttdoc">The types of input point fields available.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:324</div></div>
<div class="ttc" id="agroup__common_html_gaa2ff830572b7cbf2fd8ce335fd9ca4fb"><div class="ttname"><a href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a></div><div class="ttdeci">void getFields(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Get the list of available fields (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.hpp:79</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="abb8906b3ab5948cc3b58bf7b22218eea"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abb8906b3ab5948cc3b58bf7b22218eea">&#9670;&nbsp;</a></span>setInputTarget()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setInputTarget </td>
          <td>(</td>
          <td class="paramtype">const PointCloudTargetConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud target </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;points.empty ())</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::setInputTarget] Invalid or empty point cloud dataset given!\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4563c3bc0cb5d0270457d09ee9bdd03d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a269bd2ef4d241dc4dafebe6919e5650e">target_</a> = cloud;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// Set the internal point representation of choice</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa1ad8057a457578023584ae099795133">point_representation_</a>)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac43aa82c5e2d08b017639cc483d88ea2">tree_</a>-&gt;setPointRepresentation (<a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa1ad8057a457578023584ae099795133">point_representation_</a>);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac14f9ca285539bce5913e4e65cd8303f">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_a269bd2ef4d241dc4dafebe6919e5650e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a269bd2ef4d241dc4dafebe6919e5650e">pcl::registration::CorrespondenceEstimationBase::target_</a></div><div class="ttdeci">PointCloudTargetConstPtr target_</div><div class="ttdoc">The input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_a4563c3bc0cb5d0270457d09ee9bdd03d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4563c3bc0cb5d0270457d09ee9bdd03d">pcl::registration::CorrespondenceEstimationBase::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_aa1ad8057a457578023584ae099795133"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa1ad8057a457578023584ae099795133">pcl::registration::CorrespondenceEstimationBase::point_representation_</a></div><div class="ttdeci">PointRepresentationConstPtr point_representation_</div><div class="ttdoc">The point representation used (internal).</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_ac43aa82c5e2d08b017639cc483d88ea2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac43aa82c5e2d08b017639cc483d88ea2">pcl::registration::CorrespondenceEstimationBase::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object used for the target dataset.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:304</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a45f38520f0b144dc85423f1395f043ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a45f38520f0b144dc85423f1395f043ab">&#9670;&nbsp;</a></span>setPointRepresentation()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setPointRepresentation </td>
          <td>(</td>
          <td class="paramtype">const PointRepresentationConstPtr &amp;&#160;</td>
          <td class="paramname"><em>point_representation</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a boost shared pointer to the <a class="el" href="classpcl_1_1_point_representation.html" title="PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...">PointRepresentation</a> to be used when searching for nearest neighbors. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_representation</td><td>the <a class="el" href="classpcl_1_1_point_representation.html" title="PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...">PointRepresentation</a> to be used by the k-D tree for nearest neighbor search </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#aa1ad8057a457578023584ae099795133">point_representation_</a> = point_representation;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a260ce83db343ffc513c779e87e18bb8a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a260ce83db343ffc513c779e87e18bb8a">&#9670;&nbsp;</a></span>setSearchMethodSource()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setSearchMethodSource </td>
          <td>(</td>
          <td class="paramtype">const KdTreeReciprocalPtr &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>force_no_recompute</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputSource. Only use if you are extremely confident that the tree will be set correctly. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        { </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad15e1f9630bc3bb5e5c412dc8e9183ff">tree_reciprocal_</a> = tree; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          <span class="keywordflow">if</span> ( force_no_recompute )</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#adb23b6a9f629bdc605cefeacea94bf14">force_no_recompute_reciprocal_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;          <span class="comment">// Since we just set a new tree, we need to check for updates</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a4c46a60269323a3bf665aac6397aee69">source_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_ad15e1f9630bc3bb5e5c412dc8e9183ff"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ad15e1f9630bc3bb5e5c412dc8e9183ff">pcl::registration::CorrespondenceEstimationBase::tree_reciprocal_</a></div><div class="ttdeci">KdTreeReciprocalPtr tree_reciprocal_</div><div class="ttdoc">A pointer to the spatial search object used for the source dataset.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:307</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_adb23b6a9f629bdc605cefeacea94bf14"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#adb23b6a9f629bdc605cefeacea94bf14">pcl::registration::CorrespondenceEstimationBase::force_no_recompute_reciprocal_</a></div><div class="ttdeci">bool force_no_recompute_reciprocal_</div><div class="ttdoc">A flag which, if set, means the tree operating on the source cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:352</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a53aebf3a2649c712fcd1a0a0768ed51a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a53aebf3a2649c712fcd1a0a0768ed51a">&#9670;&nbsp;</a></span>setSearchMethodTarget()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a>&lt; PointSource, PointTarget, Scalar &gt;::setSearchMethodTarget </td>
          <td>(</td>
          <td class="paramtype">const KdTreePtr &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>force_no_recompute</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the search object used to find correspondences in the target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        { </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac43aa82c5e2d08b017639cc483d88ea2">tree_</a> = tree; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordflow">if</span> (force_no_recompute)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#afae6e31f695321c118f61c59ea7571e4">force_no_recompute_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="comment">// Since we just set a new tree, we need to check for updates</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#ac14f9ca285539bce5913e4e65cd8303f">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_afae6e31f695321c118f61c59ea7571e4"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#afae6e31f695321c118f61c59ea7571e4">pcl::registration::CorrespondenceEstimationBase::force_no_recompute_</a></div><div class="ttdeci">bool force_no_recompute_</div><div class="ttdoc">A flag which, if set, means the tree operating on the target cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:348</div></div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="correspondence__estimation_8h_source.html">correspondence_estimation.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="correspondence__estimation_8hpp_source.html">correspondence_estimation.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>registration</b></li><li class="navelem"><a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
